Review
Open access
2026
Hierarchical PIwFF–Koopman-Based Offset-Free MPC for AUV Trajectory Tracking: Simulation and Pool Experiments
Accurate trajectory tracking of autonomous underwater vehicles (AUVs) is challenging because nonlinear hydrodynamics, actuator constraints, and persistent plant–model mismatch degrade controller performance. This paper proposes a hierarchical proportional-integral with feedforward (PIwFF)–Koopman-based offset-free mode...
Benjaset Maneeloke, P. Sanposh, Yodyium Tipsuwan et al.
· IEEE Access · 1 citation